6 papers · 1 filter
Stabilization of Nonlinear Systems with State-Dependent Representation: From Model-Based to Direct Data-Driven Control
Lidong Li, Rui Huang, Lin Zhao
This paper presents a framework for stabilizing nonlinear systems in state-dependent form. We first develop a model-based formulation that constructs a polytope enclosing the state…
TransforMARS: Fault-Tolerant Self-Reconfiguration for Arbitrarily Shaped Modular Aerial Robot Systems
Rui Huang, Zhiyu Gao, Siyu Tang +4
Modular Aerial Robot Systems (MARS) consist of multiple drone modules that are physically bound together to form a single structure for flight. Exploiting structural redundancy, MA…
AERO-MPPI: Anchor-Guided Ensemble Trajectory Optimization for Agile Mapless Drone Navigation
Xin Chen, Rui Huang, Longbin Tang +1
Agile mapless navigation in cluttered 3D environments poses significant challenges for autonomous drones. Conventional mapping-planning-control pipelines incur high computational c…
SIGN: Safety-Aware Image-Goal Navigation for Autonomous Drones via Reinforcement Learning
Zichen Yan, Rui Huang, Lei He +2
Image-goal navigation (ImageNav) tasks a robot with autonomously exploring an unknown environment and reaching a location that visually matches a given target image. While prior wo…
Robust Self-Reconfiguration for Fault-Tolerant Control of Modular Aerial Robot Systems
Rui Huang, Siyu Tang, Zhiqian Cai +1
Modular Aerial Robotic Systems (MARS) consist of multiple drone units assembled into a single, integrated rigid flying platform. With inherent redundancy, MARS can self-reconfigure…
MARS-FTCP: Robust Fault-Tolerant Control and Agile Trajectory Planning for Modular Aerial Robot Systems
Rui Huang, Zhenyu Zhang, Siyu Tang +2
Modular Aerial Robot Systems (MARS) consist of multiple drone units that can self-reconfigure to adapt to various mission requirements and fault conditions. However, existing fault…